Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot
In this paper, we present a new open source dynamic quadruped robot, PADWQ (pronounced pa-dook), which features 12 torque controlled quasi direct drive joints with high control bandwidth, as well as onboard depth sensor and GPU-equipped computer that allows for a highly dynamic locomotion over uncer...
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doaj-d7169e734c1a40b2ba9b7ddd6509894e2021-04-22T23:00:10ZengMDPI AGApplied Sciences2076-34172021-04-01113762376210.3390/app11093762Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped RobotJoonyoung Kim0Taewoong Kang1Dongwoon Song2Seung-Joon Yi3Department of Electrical Engineering, Pusan National University, Busan 46241, KoreaDepartment of Electrical Engineering, Pusan National University, Busan 46241, KoreaDepartment of Electrical Engineering, Pusan National University, Busan 46241, KoreaDepartment of Electrical Engineering, Pusan National University, Busan 46241, KoreaIn this paper, we present a new open source dynamic quadruped robot, PADWQ (pronounced pa-dook), which features 12 torque controlled quasi direct drive joints with high control bandwidth, as well as onboard depth sensor and GPU-equipped computer that allows for a highly dynamic locomotion over uncertain terrains. In contrast to other dynamic quadruped robots based on custom actuator and machined metal structural parts, the PADWQ is entirely built from off the shelf components and standard 3D printed plastic structural parts, which allows for a rapid distribution and duplication without the need for advanced machining process. To make sure that the plastic structural parts can withstand the stress of dynamic locomotion, we performed finite element analysis (FEA) on leg structural parts as well as a continuous walking test using the physical robot, both of which the robot has passed successfully. We hope this work to help a wide range of researchers and engineers that need an affordable, highly capable and easily customizable quadruped robot.https://www.mdpi.com/2076-3417/11/9/3762dynamic quadruped robot3D printingopen source hardware |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Joonyoung Kim Taewoong Kang Dongwoon Song Seung-Joon Yi |
spellingShingle |
Joonyoung Kim Taewoong Kang Dongwoon Song Seung-Joon Yi Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot Applied Sciences dynamic quadruped robot 3D printing open source hardware |
author_facet |
Joonyoung Kim Taewoong Kang Dongwoon Song Seung-Joon Yi |
author_sort |
Joonyoung Kim |
title |
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot |
title_short |
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot |
title_full |
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot |
title_fullStr |
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot |
title_full_unstemmed |
Design and Control of a Open-Source, Low Cost, 3D Printed Dynamic Quadruped Robot |
title_sort |
design and control of a open-source, low cost, 3d printed dynamic quadruped robot |
publisher |
MDPI AG |
series |
Applied Sciences |
issn |
2076-3417 |
publishDate |
2021-04-01 |
description |
In this paper, we present a new open source dynamic quadruped robot, PADWQ (pronounced pa-dook), which features 12 torque controlled quasi direct drive joints with high control bandwidth, as well as onboard depth sensor and GPU-equipped computer that allows for a highly dynamic locomotion over uncertain terrains. In contrast to other dynamic quadruped robots based on custom actuator and machined metal structural parts, the PADWQ is entirely built from off the shelf components and standard 3D printed plastic structural parts, which allows for a rapid distribution and duplication without the need for advanced machining process. To make sure that the plastic structural parts can withstand the stress of dynamic locomotion, we performed finite element analysis (FEA) on leg structural parts as well as a continuous walking test using the physical robot, both of which the robot has passed successfully. We hope this work to help a wide range of researchers and engineers that need an affordable, highly capable and easily customizable quadruped robot. |
topic |
dynamic quadruped robot 3D printing open source hardware |
url |
https://www.mdpi.com/2076-3417/11/9/3762 |
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